Intelligent simulation robot for combat training

Abstract

The application discloses a kind of intelligent simulation combat training robot, it is related to robot technical field, including upper body transmission box and eye sensor, the top of the upper body transmission box is fixed with head connection spring, the eye sensor is embedded in the surface of head body, the upper portion of the two sides of the upper body transmission box is rotatably connected with arm connecting shaft by bearing, the bottom of the arm transmission rod is connected with arm transmission runner.This intelligent simulation combat training robot, the motion trajectory of human body is captured using eye sensor and sensor in the training equipment worn by the wearer, when being hit, the whole robot is controlled to produce the same force state as the force of real person when being forced by waist transmission motor, arm transmission motor, back transmission motor, so that the intelligent simulation combat training robot can simulate the human body state when real person is hit when being hit, so that the intelligent simulation combat training robot is closer to real person reaction, to improve the immersion of combat training.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to an intelligent simulation combat training robot. BACKGROUND

[0002] Combat training is now chosen by more and more people as a choice for keeping fit, and combat training is technically strong and highly dangerous, especially when two people cooperate to practice attack and defense, a little carelessness may cause injury accidents, so people will use some specific training equipment to assist in combat training, and the intelligent simulation combat training robot is a training equipment used to replace the opponent to assist in training when assisting in real combat training.

[0003] Now the combat training exercise equipment is generally simple, and can only do single strength and action training, and the movement is particularly boring and tedious, and using real people for training increases the training cost and has safety problems, and the intelligentization of exercise equipment has become a development direction, and an urgent need exists for a combat training equipment capable of simulating human actions.

[0004] Therefore, in view of the above, the existing structure and defects are studied and improved, and an intelligent simulation combat training robot is provided. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides an intelligent simulation combat training robot, which solves the problems raised in the background art.

[0006] To achieve the above purpose, the present application is realized by the following technical scheme: an intelligent simulation combat training robot, comprising an upper body transmission box and an eye sensor, the top of the upper body transmission box is fixed with a head connecting spring, and the top of the head connecting spring is fixed with a head body, the eye sensor is embedded in the surface of the head body, the upper part of the two sides of the upper body transmission box is rotatably connected with an arm connecting shaft through a bearing, and the other end of the arm connecting shaft is connected with a simulation arm, the other end of the arm connecting shaft is rotatably connected with an arm transmission rod, and the other end of the arm connecting shaft is connected with an arm force storage disc spring, the bottom of the arm transmission rod is connected with an arm transmission rotary wheel, and the side of the arm transmission rotary wheel is connected with an arm transmission motor, and the output shaft of the arm transmission motor is provided with an arm transmission one-way bearing.

[0007] Further, the head body is elastically connected with the upper body transmission box through the head connecting spring, and the side of the arm force storage disc spring is connected with the upper body transmission box.

[0008] Further, the middle part of the inner wall of the upper body transmission box is connected with a waist connecting support through a bearing, and the waist connecting support is internally provided with a waist transmission motor, and the bottom output shaft of the waist transmission motor is connected with a waist transmission sprocket through vertically distributed and meshed bevel gears.

[0009] Further, the bottom of the waist connecting support is provided with a waist converter, and the inside of the waist converter is provided with a converter sprocket, and the surface of the waist transmission sprocket is meshed with a waist transmission chain.

[0010] Further, the side surface of the converter sprocket is meshed with a converter shaft, and the both ends of the converter shaft are externally slidably connected with artificial legs, and the top of the artificial legs is connected with the both sides of the bottom of the waist connecting support.

[0011] Further, the both sides of the waist transmission motor are provided with upper body transmission sprockets, and the surfaces of the upper body transmission sprockets and the waist transmission sprocket are wound with an upper body transmission chain.

[0012] Further, the upper body transmission chain and the waist transmission chain are distributed in front and back on the waist transmission sprocket, and the both ends of the upper body transmission chain are connected with the both sides of the bottom of the upper body transmission box.

[0013] Further, the bottom of the artificial leg is connected with a base support through a bearing, and the bottom of the base support is provided with a base connecting spring on one side, and the bottom of the base support is provided with a rear end connecting spring on the other side, and the bottom of the base connecting spring is connected with a ground base.

[0014] Further, the bottom of the base support is further fixed with a front end connecting wheel, and the front end connecting wheel is located on the side of the base connecting spring, and the surface of the ground base is fixed with a back leaning transmission motor, and the bottom of the output shaft of the back leaning transmission motor is meshed with a motor sliding shaft.

[0015] Further, one end of the motor sliding shaft is connected with a rear end connecting wheel, and the other end of the motor sliding shaft is connected with a front end back leaning wheel, and the surface of the one end of the motor sliding shaft close to the rear end connecting wheel is connected with the bottom of the rear end connecting spring.

[0016] The intelligent simulation combat training robot has the following beneficial effects:

[0017] The intelligent simulation combat training robot captures the motion trajectory of the human body by means of eye sensors and sensors in the training equipment worn by the human body, and controls the whole robot to generate the same force state as the human body when force is received by means of a waist transmission motor, an arm transmission motor and a backward bending transmission motor when the intelligent simulation combat training robot is hit, so that the intelligent simulation combat training robot can simulate the state of the human body when the human body is hit, so that the intelligent simulation combat training robot is closer to the human reaction, and the immersion of combat training is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a whole structure schematic diagram of the intelligent simulation combat training robot of the application;

[0019] Figure 2 It is an internal structure schematic diagram of the upper body transmission box of the intelligent simulation combat training robot of the application;

[0020] Figure 3 It is an internal structure schematic diagram of the waist connecting support of the intelligent simulation combat training robot of the application;

[0021] Figure 4 It is a structure schematic diagram of the backward bending front state of the intelligent simulation combat training robot of the application;

[0022] Figure 5 It is a structure schematic diagram of the backward bending rear state of the intelligent simulation combat training robot of the application.

[0023] In the figure: 1, upper body transmission box; 2, head connecting spring; 3, head body; 4, eye sensor; 5, arm connecting shaft; 6, simulation arm; 7, arm transmission rod; 8, arm force storage disc spring; 9, arm transmission rotary wheel; 10, arm transmission motor; 11, waist connecting support; 12, waist transmission motor; 13, waist transmission sprocket; 14, waist converter; 15, converter sprocket; 16, waist transmission chain; 17, converter shaft; 18, simulation leg; 19, upper body transmission sprocket; 20, upper body transmission chain; 21, base support; 22, base connecting spring; 23, rear end connecting spring; 24, ground base; 25, front end connecting wheel; 26, backward bending transmission motor; 27, motor sliding shaft; 28, rear end connecting wheel; 29, front end backward bending wheel; 30, arm transmission one-way bearing. EMBODIMENT

[0024] The embodiment of the application will be further described in detail below in combination with the drawings and examples. The following examples are used to illustrate the application, but cannot be used to limit the scope of the application.

[0025] As Figures 1-2As shown, the present application provides technical solutions: a kind of intelligent simulation combat training robot, including upper body transmission box 1 and eye sensor 4, the top of upper body transmission box 1 is fixed with head connecting spring 2, and the top of head connecting spring 2 is fixed with head 3, eye sensor 4 is embedded in the surface of head 3, the upper part of the both sides of upper body transmission box 1 is rotatably connected with arm connecting shaft 5 by bearing, and the one end of arm connecting shaft 5 is connected with simulation arm 6, the other end of arm connecting shaft 5 is rotatably connected with arm transmission rod 7, and the outer wall of the other end of arm connecting shaft 5 is connected with arm force storage disc spring 8, the bottom of arm transmission rod 7 is connected with arm transmission runner 9, and the side of arm transmission runner 9 is connected with arm transmission motor 10, the output shaft outer wall of arm transmission motor 10 is provided with arm transmission one-way bearing 30, head 3 is elastically connected with upper body transmission box 1 by head connecting spring 2, and the side of arm force storage disc spring 8 is connected with upper body transmission box 1;

[0026] Specific operation is as follows, in initial state, arm transmission one-way bearing 30 one-wayly clamps the output shaft of arm transmission motor 10, so that arm transmission runner 9 is pressed against arm transmission rod 7, so that arm force storage disc spring 8 is in the state of energy storage, and the weight of simulation arm 6 is supported to be in the state of lifting, then when using the intelligent simulation combat training robot, two arm transmission motors 10 rotate 180 degrees to drive arm transmission runner 9 to make arm connecting shaft 5 rotate 30 degrees, arm connecting shaft 5 rotates again to store energy for arm force storage disc spring 8, so that two simulation arms 6 are put down, and at this time, arm transmission motor 10 is powered off and in the state of static, and still using arm transmission one-way bearing 30 one-wayly clamps the output shaft of arm transmission motor 10, so that arm transmission runner 9 is pressed against arm transmission rod 7, so that arm force storage disc spring 8 is in the state of energy storage, at this time, intelligent simulation combat training robot enters intelligent interactive defense mode;

[0027] The eye sensor 4 and the sensor in the trainer's wearing device transmit signals to the main control board. Specifically, the trainer wears a training glove, which is internally provided with a spatial positioning sensor for capturing the trajectory of the fist. The eye sensor 4 and the glove with the sensor are used together. At the same time, since the trainer often uses not only the fist to attack, but also other attack parts of the trainer, the corresponding sensor-equipped protective gear is also worn to capture the running trajectory of each attack part of the trainer. When the main control board detects that the left and right sides are about to be attacked, the corresponding side arm transmission motor 10 is controlled to rotate once and stop quickly, so that the arm transmission rotating wheel 9 no longer pushes against the arm transmission rod 7, so that the arm force storage spring 8 releases the force storage state, and the corresponding side simulated arm 6 is instantly lifted through the arm connecting shaft 5, thereby preventing the upcoming attack on that side. When the main control board detects that the attack has stopped, the arm transmission motor 10 rotates again by 180 degrees, so that the arm force storage spring 8 again enters the force storage state, and the simulated arm 6 again enters the lowered state. At the same time, the arm transmission motor 10 is powered off and in a stationary state, and the arm transmission one-way bearing 30 is used to one-wayly clamp the output shaft of the arm transmission motor 10, and waits for the next imminent attack to quickly make a defensive action.

[0028] As shown in Figure 1 、 Figure 3 , the inner wall of the upper body transmission box 1 is connected to the waist connecting support 11 through a bearing in the middle, and the waist connecting support 11 is internally provided with a waist transmission motor 12. The bottom output shaft of the waist transmission motor 12 is connected to the waist transmission sprocket 13 through a vertically distributed and meshing conical gear set. The bottom of the waist connecting support 11 is provided with a waist converter 14, and the inside of the waist converter 14 is provided with a converter sprocket 15. The surface of the converter sprocket 15 is meshed with the waist transmission chain 16 of the waist transmission sprocket 13. The side surface of the converter sprocket 15 is meshed with the converter shaft 17, and the two ends of the converter shaft 17 are externally slidably connected to the simulated leg 18. The top of the simulated leg 18 is connected to the bottom of the waist connecting support 11 on both sides. The two sides of the waist transmission motor 12 are provided with an upper body transmission sprocket 19, and the surfaces of the upper body transmission sprocket 19 and the waist transmission sprocket 13 are provided with an upper body transmission chain 20. The upper body transmission chain 20 and the waist transmission chain 16 are distributed in front of and behind the waist transmission sprocket 13, and the two ends of the upper body transmission chain 20 are connected to the bottom of the upper body transmission box 1 on both sides.

[0029] The specific operation is as follows: when the main control board detects that the upcoming attack also includes a frontal attack, for example, when the main control board detects that the upper body transmission box 1 is about to be attacked on the front and left side, the main control board controls the left side of the simulated arm 6 to lift up, at the same time, the waist transmission motor 12 drives the waist transmission sprocket 13 to rotate, and through the waist transmission chain 16, the waist transmission sprocket 13 drives the transmission sprocket 15 inside the waist transmission chain 16 to rotate, so that the transmission shaft 17 slides to the left inside the simulated leg 18, at the same time, the rotation of the waist transmission sprocket 13 also drives the upper body transmission chain 20 to transmit, so that the upper body transmission chain 20 pulls the upper body transmission box 1 to the right to incline, when the main control board detects that the attack stops, the waist transmission motor 12 rotates to reset the upper body transmission chain 20, so that the upper body transmission box 1 restores to the upright sleeve to prepare for the next attack;

[0030] When the main control board detects that the upper body transmission box 1 is about to be attacked on the front and right side, the main control board controls the right side of the simulated arm 6 to lift up, at the same time, the waist transmission motor 12 drives the waist transmission sprocket 13 to rotate, and through the waist transmission chain 16, the waist transmission sprocket 13 drives the transmission sprocket 15 inside the waist transmission chain 16 to rotate, so that the transmission shaft 17 slides to the right inside the simulated leg 18, at the same time, the rotation of the waist transmission sprocket 13 also drives the upper body transmission chain 20 to transmit, so that the upper body transmission chain 20 pulls the upper body transmission box 1 to the left to incline, when the main control board detects that the attack stops, the waist transmission motor 12 rotates to reset the upper body transmission chain 20, so that the upper body transmission box 1 restores to the upright sleeve to prepare for the next attack;

[0031] Therefore, the intelligent simulation combat training robot can simulate the human body state when a real person is hit, so that the intelligent simulation combat training robot is closer to the real person's reaction, thereby improving the immersion of combat training.

[0032] As shown in Figure 1 , Figures 4-5 , the bottom of the simulated leg 18 is connected with a base support 21 through a bearing, one side of the bottom of the base support 21 is provided with a base connecting spring 22, the other side of the bottom of the base support 21 is provided with a rear end connecting spring 23, the bottom of the base connecting spring 22 is connected with a ground base 24, the bottom of the base support 21 is also fixed with a front end connecting wheel 25, the front end connecting wheel 25 is located on the side of the base connecting spring 22, the surface of the ground base 24 is fixed with a backward driving motor 26, the output shaft of the backward driving motor 26 is engaged with a motor sliding shaft 27, one end of the motor sliding shaft 27 is connected with a rear end connecting wheel 28, the other end of the motor sliding shaft 27 is connected with a front end backward wheel 29, the surface of the one end of the motor sliding shaft 27 close to the rear end connecting wheel 28 is connected with the bottom of the rear end connecting spring 23;

[0033] The specific operation is as follows: the initial state of the intelligent simulation combat training robot is the upright mode, when the training mode is started and the main control board detects that a frontal attack is about to be received, the backward driving motor 26 drives the motor sliding shaft 27 to move forward, that is, to move to the direction of the front end connecting wheel 25, so that the front end backward wheel 29 lifts the front end connecting wheel 25, at the same time, the other end of the motor sliding shaft 27 drives the rear end connecting wheel 28 and the bottom of the rear end connecting spring 23 to move forward, at this time, the rear end connecting spring 23 is bent and the rear end of the base support 21 is pressed down, while the base connecting spring 22 is stretched and bent because the front end connecting wheel 25 is lifted, so that the front end of the base support 21 is lifted, so that the intelligent simulation combat training robot enters the backward state when it is hit, and after the main control board detects that the intelligent simulation combat training robot is backward at a preset angle, the backward driving motor 26 is reversed to make the intelligent simulation combat training robot return to the upright state to meet the next attack.

[0034] In summary, as shown in the drawings, the intelligent simulation combat training robot, when in use, first uses the one-way nature of the arm driving one-way bearing 30 to block the output shaft of the arm driving motor 10 in the initial state, so that the arm driving rotating wheel 9 is pressed against the arm driving rod 7, so that the arm force storage disc spring 8 is in the force storage state, and the weight of the simulation arm 6 is lifted to the lifted state; Figures 1-5 Then, when using the intelligent simulation combat training robot, the two arm driving motors 10 are rotated by 180 degrees to drive the arm driving rotating wheel 9 to make the arm connecting shaft 5 rotate by 30 degrees, and the arm connecting shaft 5 rotates again to store force for the arm force storage disc spring 8, so that the two simulation arms 6 are lowered, and at this time the arm driving motor 10 is powered off and in a static state, and the one-way nature of the arm driving one-way bearing 30 is still used to block the output shaft of the arm driving motor 10, so that the arm driving rotating wheel 9 is pressed against the arm driving rod 7, so that the arm force storage disc spring 8 is in the force storage state, at this time the intelligent simulation combat training robot enters the intelligent interactive defense mode;

[0035] When the eye sensor 4 transmits images to the main control board, the main control board detects that the left and right sides are about to be attacked, and controls the corresponding side arm driving motor 10 to rotate once and stop quickly, so that the arm driving rotating wheel 9 is no longer pressed against the arm driving rod 7, so that the arm force storage disc spring 8 releases the force storage state, and the corresponding side simulation arm 6 is instantly lifted through the arm connecting shaft 5, so as to prevent the upcoming attack on that side, when the main control board detects that the attack stops, the arm driving motor 10 is rotated by 180 degrees again, so that the arm force storage disc spring 8 enters the force storage state again, and the simulation arm 6 enters the lowered state again, at the same time, the arm driving motor 10 is powered off and in a static state, and the one-way nature of the arm driving one-way bearing 30 is used to block the output shaft of the arm driving motor 10, and waits for the next attack to make a quick defense action;

[0036]

[0037] ​When the main control board detects that the upcoming attack also includes a frontal attack, for example, when the main control board detects that the upper body transmission box 1 is about to be attacked from the front and left side, the main control board controls the left side simulated arm 6 to be lifted up, at the same time, the waist transmission motor 12 drives the waist transmission sprocket 13 to rotate, and through the waist transmission chain 16, the transmission sprocket 15 inside the waist transmission converter 14 is driven to rotate, so that the transmission shaft 17 slides to the left inside the simulated leg 18, at the same time, the rotation of the waist transmission sprocket 13 also drives the upper body transmission chain 20 to transmit, so that the upper body transmission chain 20 pulls the upper body transmission box 1 to be inclined to the right, when the main control board detects that the attack stops, the waist transmission motor 12 rotates to reset the upper body transmission chain 20, so that the upper body transmission box 1 restores the straight expansion sleeve to meet the next attack.

[0038] When the main control board detects that the upper body transmission box 1 is about to be attacked from the front and right side, the main control board controls the right side simulated arm 6 to be lifted up, at the same time, the waist transmission motor 12 drives the waist transmission sprocket 13 to rotate, and through the waist transmission chain 16, the transmission sprocket 15 inside the waist transmission converter 14 is driven to rotate, so that the transmission shaft 17 slides to the right inside the simulated leg 18, at the same time, the rotation of the waist transmission sprocket 13 also drives the upper body transmission chain 20 to transmit, so that the upper body transmission chain 20 pulls the upper body transmission box 1 to be inclined to the left, when the main control board detects that the attack stops, the waist transmission motor 12 rotates to reset the upper body transmission chain 20, so that the upper body transmission box 1 restores the straight expansion sleeve to meet the next attack.

[0039] The initial state of the intelligent simulation combat training robot is a straight mode, when starting the training mode and the main control board detects that a frontal attack is about to be received, the backward driving motor 26 drives the motor sliding shaft 27 to move forward, that is, to move in the direction of the front end connecting wheel 25, so that the front end backward wheel 29 lifts up the front end connecting wheel 25, at the same time, the other end of the motor sliding shaft 27 drives the rear end connecting wheel 28 and the bottom of the rear end connecting spring 23 to move forward, at this time, the rear end connecting spring 23 is bent and the rear end of the base support 21 is pressed down, while the base connecting spring 22 is stretched and bent because the front end connecting wheel 25 is lifted up, so that the front end of the base support 21 is lifted up, thereby making the intelligent simulation combat training robot enter a backward state when being hit, and after the main control board detects that the intelligent simulation combat training robot has backwarded to a preset angle, the backward driving motor 26 reverses to make the intelligent simulation combat training robot restore the straight state to meet the next attack.

[0040] Embodiments of the present application are given for the purpose of example and description, and are not intended to be exhaustive or to limit the application to the precise form disclosed. Many modifications and variations are possible in light of the above teachings. The embodiments are chosen and described in order to best explain the principles of the application and its practical application and to thereby enable others skilled in the art to best utilize the application for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. An intelligent simulation fighting training robot, comprising an upper body transmission box (1) and an eye sensor (4), characterized in that: The top of the upper body transmission box (1) is fixed with a head connecting spring (2), and the top of the head connecting spring (2) is fixed with a head (3), the eye sensor (4) is embedded in the surface of the head (3), the upper part of the two sides of the upper body transmission box (1) is rotatably connected with the arm connecting shaft (5) through the bearing, and one end of the arm connecting shaft (5) is connected with the simulated arm (6), the other end of the arm connecting shaft (5) is rotatably connected with the arm transmission rod (7), and the outer wall of the other end of the arm connecting shaft (5) is connected with the arm force storage disc spring (8), the bottom of the arm transmission rod (7) is connected with the arm transmission rotary wheel (9), and the side of the arm transmission rotary wheel (9) is connected with the arm transmission motor (10), the output shaft of the arm transmission motor (10) is provided with an arm transmission one-way bearing (30), the inner wall of the upper body transmission box (1) is connected with a waist connecting support (11) through a bearing, and the inside of the waist connecting support (11) is provided with a waist transmission motor (12), the bottom output shaft of the waist transmission motor (12) is connected with a waist transmission sprocket (13) through a vertically distributed and meshing bevel gear set, the bottom of the waist connecting support (11) is provided with a waist converter (14), and the inside of the waist converter (14) is provided with a converter sprocket (15), the surface of the waist transmission sprocket (13) is meshed with a waist transmission chain (16), the two sides of the waist transmission motor (12) are provided with an upper body transmission sprocket (19), the surfaces of the upper body transmission sprocket (19) and the waist transmission sprocket (13) are provided with an upper body transmission chain (20), the upper body transmission chain (20) and the waist transmission chain (16) are distributed in front and back on the waist transmission sprocket (13), and the two ends of the upper body transmission chain (20) are connected with the bottom of the two sides of the upper body transmission box (1).

2. The intelligent simulation combat training robot according to claim 1, characterized in that: The head (3) is elastically connected with the upper body transmission box (1) through the head connecting spring (2), and the side of the arm force storage disc spring (8) is connected with the upper body transmission box (1).

3. The intelligent simulation combat training robot according to claim 2, characterized in that: The side bottom of the converter sprocket (15) is meshed with a converter shaft (17), the two ends of the converter shaft (17) are slidably connected with a simulated leg (18), and the top of the simulated leg (18) is connected with the bottom of the two sides of the waist connecting support (11).

4. The intelligent simulation combat training robot according to claim 3, characterized in that: The bottom of the simulated leg (18) is connected with a base support (21) through a bearing, one side of the bottom of the base support (21) is provided with a base connecting spring (22), the other side of the bottom of the base support (21) is provided with a rear end connecting spring (23), and the bottom of the base connecting spring (22) is connected with a ground base (24).

5. The intelligent simulation combat training robot according to claim 4, characterized in that: The bottom of the base support (21) is also fixed with a front end connecting wheel (25), and the front end connecting wheel (25) is located on the side of the base connecting spring (22), the surface of the ground base (24) is fixed with a back leaning transmission motor (26), and the output shaft bottom of the back leaning transmission motor (26) is meshed with a motor sliding shaft (27).

6. The intelligent simulation fighting training robot according to claim 5, characterized in that: One end of the motor sliding shaft (27) is connected with a rear end connecting wheel (28), and the other end of the motor sliding shaft (27) is connected with a front end backward wheel (29), and the surface of the one end of the motor sliding shaft (27) close to the rear end connecting wheel (28) is connected with the bottom of the rear end connecting spring (23).

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